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Research into the role of cooperative, or relaxation, processes in image segmentation is surveyed. Cooperative processes can be employed at several levels of the segmentation process as a preprocessing enhancement step, during supervised or unsupervised pixel classification and, finally, for the interpretation of image segments based on segment properties and relations.
In connection with his announcement regarding the development of a permanently manned Space Station, President Reagan invited the United States' friends and allies to join in the Space Station program. The President's invitation was preceded by more than two years of interaction between NASA and some of its potential partners in Space Station planning activities. Attention is given to international participation in Space Station planning, international cooperation on the Space Station, the guidelines for international cooperation, and the key challenges. Questions regarding quid pro quos are considered along with aspects of technology transfer, commercial use, problems of management, and the next steps concerning the Space Station program.
The utility of augmenting displays to aid the human operator in controlling high order complex systems is well known. Analytical evaluations of various display designs for a simple k/s-squared plant in a compensatory tracking task using an Optimal Control Model (OCM) of human behavior is carried out. This analysis reveals that significant improvement in performance should be obtained by skillful integration of key information into the display dynamics. The cooperative control synthesis technique previously developed to design pilot-optimal control augmentation is extended to incorporate the simultaneous design of performance enhancing augmented displays. The application of the cooperative control synthesis technique to the design of augmented displays is discussed for the simple k/s-squared plant. This technique is intended to provide a systematic approach to design optimally augmented displays tailored for specific tasks.
As cooperative ventures to conduct research and development become increasingly attractive, management of these collective undertakings poses new challenges to executives. In selecting the most appropriate organizational structure and strategy the author suggests that the collective enterprise executive must strike the best balance among three distinct but related elements: contribution of the participants; creation of benefits; and transfer of benefits to contributors. Eight types of cooperative R&D ventures are proposed with discussion of the unique management tasks associated with each type.
The utility of augmenting displays to aid the human operator in controlling high order complex systems is well known. Analytical evaluation of various display designs for a simple k/s sup 2 plant in a compensatory tracking task using an optimal Control Model (OCM) of human behavior is carried out. This analysis reveals that significant improvement in performance should be obtained by skillful integration of key information into the display dynamics. The cooperative control synthesis technique previously developed to design pilot-optimal control augmentation is extended to incorporate the simultaneous design of performance enhancing augmented displays. The application of the cooperative control synthesis technique to the design of augmented displays is discussed for the simple k/s sup 2 plant. This technique is intended to provide a systematic approach to design optimally augmented displays tailored for specific tasks.
In the late 1960s, NASA contemplated the establishment of a permanently manned Space Station along with the development of the Space Shuttle. After a temporary postponement of the Space Station project, it was finally decided to develop a Space Station and to have it operating by the early 1990s. This station is to serve in a variety of functions which are important for further advances with respect to the utilization of space. The Space Station could even serve as a staging base for trips to the moon and visits to Mars. An international approach is to be taken regarding the development and utilization of the Space Station, giving attention to a cooperation of the U.S. with Canada, Europe, and Japan. The implementation of such a cooperation requires that a number of problems are solved. Basic approaches suitable for achieving such a solution are discussed, taking into account the development of operational schemes which provide for efficient management, while permitting the exercise of diverse 'ownership' rights.
An agreement between the government of the Federal Republic of Germany and the government of the Union of Soviet Socialist Republics concerning scientific technical cooperation is disclosed. The parties to the treaty agree to promote scientific and technical cooperation on a basis of equality, reciprocity and mutual advantage.
This paper extends the theory of hybrid position/force control to the case of multi-arm cooperating robots. Cooperation between n robot arms is achieved by controlling each arm such that the burden of actuation is shared between the arms in a nonconflicting way as they control the position of and force on a designated point on an object. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. Natural and artificial position and force constraints are defined for a point on the object and two selection matrices are obtained to control the arms. The position control loops are designed based on each manipulator's Cartesian space dynamic equations. In the position control subspace, a feature is provided which allows the robot arms to exert additional forces/torques to achieve compression, tension, or torsion in the object without affecting the execution of the motion trajectories. In the force control subspace, a method is introduced to minimize the total force/torque magnitude square while realizing the net desired force/torque on the environment.
The history of international cooperation in studies of comets started with observations in 1577 and 1680, when Tycho Brahe and Newton, respectively, collected position measurements made in different countries to determine the paths of the comets observed. In the fall of 1979, a worldwide Comet Halley watch was proposed. As a result of international cooperation, Comet Halley was explored during its recent appearance from the ground, earth orbit, Venus orbit, interplanetary space, and from within the comet itself. The various activities in space were coordinated by the ESA, the USSR Intercosmos, the Japanese ISAS, and NASA, through the Inter-Agency Consultative Group. The activities of the ground-based observers were coordinated by the International Halley Watch.
Application of the Cooperative methodology to synthesize control/display augmentation systems for the piloted longitudinal landing task with a modern, statically-unstable, fighter aircraft is considered. Starting with a control augmentation law which yields augmented vehicle dynamics that meet Level I handling qualities specifications, the effect of time-delay in the Head-up-display is studied using model-based criterion. This evaluation showed that even with 'good' conventional dynamics, a realistic value of display time-delay will cause significant deterioration in pilot workload and piloted-system performance. Application of the Cooperative methodology to control augmentation alone resulted in augmented vehicle dynamics which provide direct control of the flight path from the pilot stick. Analytical evaluation of these dynamics indicates that such dynamics might lead to improved pilot ratings over conventional dynamics, especially in the presence of time-delays in the system. Also, application of the methodology to simultaneous synthesis of control augmentation and flight director laws revealed that it might be advantageous to consider the control/display trade-off in the early design stages.
A method has been developed for determining optimal, i.e., minimum fuel, trajectories for the fixed-time cooperative rendezvous of two spacecraft. The method presently assumes that the vehicles perform a total of three impulsive maneuvers with each vehicle being active, that is, making at least one maneuver. The cost of a feasible 'reference' trajectory is improved by an optimizer which uses an analytical gradient developed using primer vector theory and a new solution for the optimal terminal (rendezvous) maneuver. Results are presented for a large number of cases in which the initial orbits of both vehicles are circular but in which the initial positions of the vehicles and the allotted time for rendezvous are varied. In general, the cost of the cooperative rendezvous is less than that of rendezvous with one vehicle passive. Further improvement in cost may be obtained in the future when additional, i.e., midcourse, impulses are allowed and inserted as indicated for some cases by the primer vector histories which are generated by the program.
The USDA, the California Department of Water Resources (CDWR), the Remote Sensing Research Program of the University of California (UCB) and NASA have completed a 4-yr cooperative project on the use of remote sensing in monitoring California agriculture. This report is a summary of the project and the final report of NASA's contribution to it. The cooperators developed procedures that combined the use of LANDSAT Multispectral Scanner imagery and digital data with good ground survey data for area estimation and mapping of the major crops in California. An inventory of the Central Valley was conducted as an operational test of the procedures. The satellite and survey data were acquired by USDA and UCB and processed by CDWR and NASA. The inventory was completed on schedule, thus demonstrating the plausibility of the approach, although further development of the data processing system is necessary before it can be used efficiently in an operational environment.
It is argued that autonomous robotics is not yet feasible, and that instantaneous human control may be difficult because of communication delay and expensive because of labor costs. Therefore, it is argued, human supervisory control with cooperation between man and a partially autonomous distant robot is the most viable engineering solution. Model control of image processing enables efficient visual displays. Cooperative control in paired manipulators required rapid controller signal information to be passed over a cross-filter in a heuristic study.
Two cooperative control schemes for telerobot visual displays are addressed. In the first scheme, on-the-screen visual enhancements such as reference lines indicating the vertical height of the robot hand, a stick figure model of the robot hand, and its projection on the horizontal grid plane are constructed by the interactive cooperation between the human operator and the telerobotic system, and then superimposed on the video screen. Experimental results with a five-degree-of-freedom robot and a frame grabber indicate that superimposition of visual enhancements on the video screen greatly improves telemanipulation task performance. In the second scheme, the position and orientation of an object on video screens are determined interactively; these then assist the telerobotic system in executing the human operator's task-level commands autonomously.
As part of a US/UK cooperative aeronautical research pragram, a joint activity between the Dryden Flight Research Facility of the NASA Ames Research Center (Ames-Dryden) and the Royal Aerospace Establishment (RAE) on Knowledge Based Systems was established. Under the agreement, a Flight Status Monitor Knowledge base developed at Ames-Dryden was implemented using the real-time IKBS toolkit, MUSE, which was developed in the UK under RAE sponsorship. The Flight Status Monitor is designed to provide on-line aid to the flight test engineer in the interpretation of system health and status by storing expert knowledge of system behavior in an easily accessible form. The background to the cooperation is described and the details of the Flight Status Monitor, the MUSE implementation are presented.
Design concepts and principles to guide in the building of cooperative problem solving systems are being developed and evaluated. In particular, the design of cooperative systems for enroute flight planning is being studied. The investigation involves a three stage process, modeling human performance in existing environments, building cognitive artifacts, and studying the performance of people working in collaboration with these artifacts. The most significant design concepts and principles identified thus far are the principle focus.
The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.
Cooperation between ESA and NASA is discussed, noting that the Memorandum of Understanding lays the framework for this relationship, defining the responsibilities of ESA and NASA and providing for appointment of leadership and managers for the project. Members of NASA's Jet Propulsion Laboratory and ESA's ESTEC staff have been appointed to leadership positions within the project and ultimate control of the project rests with the Joint Working Group consisting of two project managers and two project scientists, equally representing both organizations. Coordination of time scales and overall mission design is discussed, including launch cooperation, public relations, and funding of scientific investigations such as Ulysses. Practical difficulties of managing an international project are discussed such as differing documentation requirements and communication techniques, and assurance of equality on projects.