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At least 703 records · Page 39

Model estimation and identification of manual controller objectives in complex tracking tasks

A methodology is presented for estimating the parameters in an optimal control structural model of the manual controller from experimental data on complex, multiinput/multioutput tracking tasks. Special attention is devoted to estimating the appropriate objective function for the task, as this is considered key in understanding the objectives and strategy of the manual controller. The technique is applied to data from single input/single output as well as multi input/multi outpuut experiments, and results discussed.

Schmidt, D. K.↗

Particle resuspension: Challenges and perspectives for future models

Using what has become a celebrated catchphrase, Philip W. Anderson once wrote that “more is different” (Science, Vol. 177, Issue 4047, pp. 393–396, 1972). First formulated in the context of condensed matter, this statement carries far beyond the sole limits of solid-state physics. It emphasizes that collective behavior can be more than the mere sum of what happens for elementary constituents or the mere collation of the evolution of each degree of freedom. Said otherwise, complex phenomena can arise out of the interplay between multiple sub-phenomena each of which can be relatively simple. The process of particle resuspension, in which discrete particles adhering on a surface are pulled off and carried away by a fluid flow, is another example involving a web of phenomena pertaining to fluid mechanics, particle dynamics and interface chemistry whose cross-effects create an intricate topic. The purpose of this review is to analyze the physics at play in particle resuspension in order to bring insights into the rich complexity of this common but challenging concern. Following the more-is-different vision, this is performed by starting from a range of practical observations and experimental data. We then work our way through the investigation of the key mechanisms which play a role in the overall process. In turn, these mechanisms reveal an array of fundamental interactions, such as particle–fluid, particle–particle and particle–surface, whose combined effects create the tapestry of current applications. At the core of this analysis are descriptions of these physical phenomena and the different ways through which they are intertwined to build up various models used to provide quantitative assessment of particle resuspension. The physics of particle resuspension implies to hold together processes occurring at extremely different space and time scales and models are key in providing a single vehicle to lead us through such multiscale journeys. This raises questions on what makes up a model and one objective of the present work is to clarify the essence of a modeling approach. In spite of its ubiquitous nature, particle resuspension is still at the early stages of developments. Many extensions need to be worked out and revisiting the art of modeling is not a moot point. The need to consider more complex objects than small and spherical particles and, moreover, to come up with unified descriptions of mono- and multilayer resuspension put the emphasis on solid model foundations if we are to go beyond current limits. Further, this is very much modeling in the making and new ideas are proposed to stimulate interest into this everyday but challenging issue in physics.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

Hiding-in-Plain-Sight (HiPS) Attack on CLIP for Targetted Object Removal from Images

Machine learning models are known to be vulnerable to adversarial attacks, but prior works have mostly focused on single-modalities. With the rise of large multi-modal models (LMMs) like CLIP, which combine vision and language capabilities, new vulnerabilities have emerged. However, these multimodal targeted attacks aim to completely change the model's output to what the adversary wants. In many realistic scenarios, an adversary might seek to make only subtle modifications to the output, so that the changes go unnoticed by downstream models or even by humans. We introduce Hiding-in-Plain-Sight (HiPS) attacks, a novel class of adversarial attacks that subtly modifies model predictions by selectively concealing target object(s), as if the target object was absent from the scene. We propose two HiPS attack variants, HiPS-cls and HiPS-cap, and demonstrate their effectiveness in transferring to downstream image captioning models, such as CLIP-Cap, for targeted object removal from image captions.

Daw, Arka [ORNL] (ORCID:0009000633191271)↗

A Bayesian Multi-fidelity Neural Network to Predict Nonlinear Frequency Backbone Curves

The use of structural mechanics models during the design process often leads to the development of models of varying fidelity. Often low-fidelity models are efficient to simulate but lack accuracy, while the high-fidelity counterparts are accurate with less efficiency. Here, this paper presents a multi-fidelity surrogate modeling approach that combines the accuracy of a high-fidelity finite element model with the efficiency of a low-fidelity model to train an even faster surrogate model that parameterizes the design space of interest. The objective of these models is to predict the nonlinear frequency backbone curves of the Tribomechadynamics Research Challenge benchmark structure which exhibits simultaneous nonlinearities from frictional contact and geometric nonlinearity. The surrogate model consists of an ensemble of neural networks that learn the mapping between low and high-fidelity data through nonlinear transformations. Bayesian neural networks are used to assess the surrogate model's uncertainty. Once trained, the multi-fidelity neural network is used to perform sensitivity analysis to assess the influence of the design parameters on the predicted backbone curves. Additionally, Bayesian calibration is performed to update the input parameter distributions to correlate the model parameters to the collection of experimentally measured backbone curves.

42 ENGINEERING↗

Employing bacterial microcompartments to create privileged redox pools for biofuel production (Final report: Accomplishments)

Over the award period we made progress on all three objectives. We completed our goal of understanding the impact of cofactor recycling on pathway performance for a propanediol-related pathway (Objective 1) and coupled this data with kinetic metabolic models developed in Objective 3, resulting in several products (4 published research articles, 1 review and 3 other research manuscripts in preparation). We completed half of Objective 2 but found the pathway was incompatible with compartmentalization, which is an important but unexpected result. The details are relayed in the following sections, grouped by objective and task as applicable.

09 BIOMASS FUELS↗

Evaluating SWAT + model uncertainties for human and natural outcomes: Application in a Great Lakes agricultural watershed

Nutrient exports from agricultural lands in the Great Lakes Region pose significant threats to water quality and ecological health through eutrophication, hypoxia, and harmful algal blooms. Climate change and agricultural adaptation practices complicate future nutrient loading due to intensified hydrologic cycles and land use decisions. Our research focuses on evaluating the Soil and Water Assessment Tool (SWAT) plus model parametric uncertainties for human and natural outcomes across different scales. These factors are integral to ensuring a balance between productive agricultural practices and maintaining the health of watershed hydrology. However, uncertainties in modeling such complex interactions pose significant challenges, limiting our ability to precisely determine critical factors that influence crop yield and soil moisture. Our analysis employs Sobol global sensitivity analysis to evaluate first-order, second order, and total-order indices for SWAT crop growth parameter, ensuring comprehensive assessment of individual and interactive effects on model outputs. The objective is to identify the parameters that significantly affect model outputs for crop yield and soil moisture and improve our understanding of their interactions at the basin and hydrological response unit (HRU) scale. Our case study, the Portage River Watershed, which drains into Lake Erie, is chosen to better capture finer scale interactions crucial for predicting nutrient loading under future climate scenarios. This foundational work is aimed at setting the stage for the future development of an agent-based model (ABM). The ABM model would incorporate SWAT outputs to dynamically simulate decision-making processes.

Bunyon, Enock↗

Large eddy simulations of time-dependent and buoyancy-driven channel flows

The primary goal of this work has been to assess the performance of the dynamic SGS model in the large eddy simulation (LES) of channel flows in a variety of situations, viz., in temporal development of channel flow turned by a transverse pressure gradient and especially in buoyancy-driven turbulent flows such as Rayleigh-Benard and internally heated channel convection. For buoyancy-driven flows, there are additional buoyant terms that are possible in the base models, and one objective has been to determine if the dynamic SGS model results are sensitive to such terms. The ultimate goal is to determine the minimal base model needed in the dynamic SGS model to provide accurate results in flows with more complicated physical features. In addition, a program of direct numerical simulation (DNS) of fully compressible channel convection has been undertaken to determine stratification and compressibility effects. These simulations are intended to provide a comparative base for performing the LES of compressible (or highly stratified, pseudo-compressible) convection at high Reynolds number in the future.

Cabot, William H.↗

A geometric deformable model for echocardiographic image segmentation

Gradient vector flow (GVF), an elegant external force for parametric deformable models, can capture object boundaries from both sides. A new geometric deformable model is proposed that combines GVF and the geodesic active contour model. The level set method is used as the numerical method of this model. The model is applied for echocardiographic image segmentation.

NASA Program Biomedical Research and Countermeasur↗

ScaleML: Machine Learning based Heap Memory Object Scaling Prediction

Memory subsystem contributes 28-40% of total energy consumption. Several studies investigated energy prediction and consumption via profiling memory object access patterns. However, such profiling leads to higher energy consumption due to intense memory object-level profiling to achieve high prediction accuracy. Further, memory object access pattern prediction has been considered through analyzing the variation between memory object access patterns, referred to as scaling rate. The existing techniques for scaling rate prediction, such as Linear Scaling Rate (LSR), suffer from a high error rate in prediction with changes in access patterns, which leads to a high error rate of energy consumption prediction. In this paper, we compare and evaluate several memory object access pattern prediction models including LSR and machine learning (ML) models. Further, we propose SCALEML, a heap memory object scaling rate prediction mechanism that employs an ML model to achieve high access pattern prediction accuracy with variations in memory object access patterns. We evaluate SCALEML using various application benchmarks. The experimental results show that SCALEML achieves about 20% higher accuracy than the LSR model for predicting the scaling rate of object access patterns and energy estimation.

Park, Joongeon↗

Green Design of a Cellulosic Butanol Supply Chain Network: A Case Study of Sorghum Stem Bio-butanol in Missouri

Cellulosic butanol is a very promising renewable fuel to consider for the future transportation market. However, the seasonal availability of the raw materials, high maintenance cost, and high logistical cost of the biomass energy supply chain are the main factors impeding the commercialization and large-scale-production of this energy source. Furthermore, research focusing on an environmental or green supply chain network design of cellulosic butanol has been insufficient. Here, this study focused on designing a green supply chain network for cellulosic butanol. A life cycle analysis was integrated into a multi-objective linear programming model to optimize the cellulosic butanol supply chain network. With the objectives of maximizing the economic profits and minimizing the greenhouse gas emissions, the proposed model can optimize the location and size of a bio-butanol production plant. The mathematical model was applied to a case study in the state of Missouri, and solved the tradeoff between the feedstock and market availabilities of sorghum stem bio-butanol.

09 BIOMASS FUELS↗

Classification of terrain models for Martian vehicle

This paper develops a procedure for an autonomous Martian rover to classify objects into obstacles and non-obstacles. These so called 'objects' are actually models generated by the Terrain Modeling and Edge Detection schemes. The classification process is performed using a set of object parameters which distinguish unobstructive objects from obstacles.

Leung, K. L.↗

The 4-D approach to visual control of autonomous systems

Development of a 4-D approach to dynamic machine vision is described. Core elements of this method are spatio-temporal models oriented towards objects and laws of perspective projection in a foward mode. Integration of multi-sensory measurement data was achieved through spatio-temporal models as invariants for object recognition. Situation assessment and long term predictions were allowed through maintenance of a symbolic 4-D image of processes involving objects. Behavioral capabilities were easily realized by state feedback and feed-foward control.

Dickmanns, Ernst D.↗

Micromechanical models for textile structural composites

The objective is to develop micromechanical models for predicting the stiffness and strength properties of textile composite materials. Two models are presented to predict the homogeneous elastic constants and coefficients of thermal expansion of a textile composite. The first model is based on rigorous finite element analysis of the textile composite unit-cell. Periodic boundary conditions are enforced between opposite faces of the unit-cell to simulate deformations accurately. The second model implements the selective averaging method (SAM), which is based on a judicious combination of stiffness and compliance averaging. For thin textile composites, both models can predict the plate stiffness coefficients and plate thermal coefficients. The finite element procedure is extended to compute the thermal residual microstresses, and to estimate the initial failure envelope for textile composites.

Marrey, Ramesh V.↗

Addressing Issues with Working Memory in Video Object Segmentation

Contemporary state-of-the-art video object segmentation (VOS) models compare incoming unannotated images to a history of image-mask relations via affinity or cross-attention to predict object masks. We refer to the internal memory state of the initial image-mask pair and past image-masks as a working memory buffer. While the current state of the art models perform very well on clean video data, their reliance on a working memory of previous frames leaves room for error. Affinity-based algorithms include the inductive bias that there is temporal continuity between consecutive frames. To account for inconsistent camera views of the desired object, working memory models need an algorithmic modification that regulates the memory updates and avoid writing irrelevant frames into working memory. A simple algorithmic change is proposed that can be applied to any existing working memory-based VOS model to improve performance on inconsistent views, such as sudden camera cuts, frame interjections, and extreme context changes. The resulting model performances show significant improvement on video data with these frame interjections over the same model without the algorithmic addition. Our contribution is a simple decision function that determines whether working memory should be updated based on the detection of sudden, extreme changes and the assumption that the object is no longer in frame. By implementing algorithmic changes, such as this, we can increase the real-world applicability of current VOS models.

97 MATHEMATICS AND COMPUTING↗

Application of Objectives-Driven Assurance Cases to System Development in an Evolving Acquisition Model

System properties such as “safety” and “dependability” cannot, in practice, be proven, and must be argued in an “assurance case” aimed at supporting risk-acceptance decisions that have to be made by system acquirers and/or regulatory authorities. The paper is concerned with applications of the “assurance case” idea early in design and development of new systems, when (apart from dedicated testing) the only available operating experience information derives from previous (non-identical) systems. Much of the discussion is based on an evolving acquisition model at the US National Aeronautics and Space Administration; previously, most major systems were developed in-house, but some major systems will now be developed by and acquired from commercial providers. Key points discussed include the following. (1) By promoting a particular kind of focused discussion between acquirers and providers, the use of assurance cases should be particularly valuable under the new acquisition model. (2) In principle, objectives-driven (sometimes called “performance-based”) approaches to assurance of performance have significant advantages in cases where they are applicable. (3) For truly novel systems, completeness of the safety analysis is a significant issue; it is important for the assurance case to include a commitment by the provider (or applicant) to seriously pursue analysis of operating experience, so that previously unrecognized hazards can be identified and addressed. (4) Inquiries into major accidents often point to deficiencies in management oversight in all parts of the life cycle; management processes need to be addressed in the formulation and the implementation of an assurance case. Under the new acquisition model, these considerations imply a serious reconsideration of the way in which the development process is managed by both providers and acquirers.

Objectives-driven↗

Multi-Objective Optimal Control of High Aspect Ratio Wing Wind Tunnel Model

This paper presents the design of a multi-objective optimal controller for the 13.5 aspect ratio Common Research Model (CRM) wind tunnel model. A Pareto front analysis is performed to provide the optimal tradeoff between the competing objectives - gust load alleviation, maneuver load alleviation, and drag minimization - so that the weighting matrices for the control law are selected optimally. Also presented are two formulations of the controller: a state feedback with Kalman filter design, and an output feedback form where sensors are used directly for feedback control. The controller demonstrates a reduced peak-to-peak strain of 45.78% while also reducing drag and mean bending moment. An output feedback formulation for gust load alleviation is formulated and produces a 53% reduction in the strain response due to a gust input.

Gust Load Alleviation↗

Model-based automatic generation of grasping regions

The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region.

Bloss, David A.↗